A biomimetic approach to robot table tennis
| Autor: | Jan Peters, Jens Kober, Katharina Mülling |
|---|---|
| Rok vydání: | 2010 |
| Předmět: |
0209 industrial biotechnology
Engineering Computer science Experimental and Cognitive Psychology 02 engineering and technology 050105 experimental psychology Behavioral Neuroscience 020901 industrial engineering & automation Headway 0202 electrical engineering electronic engineering information engineering 0501 psychology and cognitive sciences Computer vision Motion planning Simulation Robot kinematics business.industry 05 social sciences Motor control Mobile robot Motor task Robotic systems Ball (bearing) Robot 020201 artificial intelligence & image processing Tennis ball Baseball robot Artificial intelligence Biomimetics business Robotic arm |
| Zdroj: | IROS Adaptive Behavior 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) |
| DOI: | 10.1109/iros.2010.5650305 |
| Popis: | Playing table tennis is a difficult motor task that requires fast movements, accurate control, and adaptation to task parameters. Although human beings see and move slower than most robot systems, they significantly outperform all table tennis robots. One important reason for this higher performance is the human movement generation. In this article, we study human movements during table tennis and present a robot system that mimics human striking behavior. Our focus lies on generating hitting motions capable of adapting to variations in environmental conditions, such as changes in ball speed and position. Therefore, we model the human movements involved in hitting a table tennis ball using discrete movement stages and the virtual hitting point hypothesis. The resulting model was evaluated both in a physically realistic simulation and on a real anthropomorphic seven degrees of freedom Barrett WAMTM robot arm. |
| Databáze: | OpenAIRE |
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